Disturbance observer-based fixed-time leader-following consensus control for multiple Euler–Lagrange systems: A non-singular terminal sliding mode scheme |
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| Institution: | 1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;2. School of Business, University of Shanghai for Science and Technology, Shanghai 200093, China;1. School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, PR China;2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, PR China;3. Zhongguancun Laboratory, Beijing 100190, PR China;4. School of Electronics and Information, Northwestern Polytechnical University, Xi’an 710072, PR China;5. Institute of Artificial Intelligence, Beihang University, Beijing 100191, PR China;1. Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu 241000, China;2. Key Laboratory of Smart Manufacturing in Energy Chemical Process (East China University of Science and Technology), Ministry of Education, Shanghai 200237, China |
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| Abstract: | This paper focuses on the fixed-time leader-following consensus problem for multiple Euler–Lagrange (EL) systems via non-singular terminal sliding mode control under a directed graph. Firstly, for each EL system, a local fixed-time disturbance observer is introduced to estimate the compound disturbance (including uncertain parameters and external disturbances) within a fixed time under the assumption that the disturbance is bounded. Next, a distributed fixed-time observer is designed to estimate the leader’s position and velocity, and the consensus problem is transformed into a local tracking problem by introducing such an observer. On the basis of the two types of observers designed, a novel non-singular terminal sliding surface is proposed to guarantee that the tracking errors on the sliding surface converge to zero within a fixed time. Furthermore, the presented control algorithm also ensures the fixed-time reachability of the sliding surface, while avoiding the singularity problem. Finally, the effectiveness of the proposed observers and control protocol is further verified by a numerical simulation. |
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